diff --git a/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.cpp b/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.cpp
index 51b4b3aee2..c117d6b668 100644
--- a/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.cpp
+++ b/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.cpp
@@ -178,10 +178,12 @@ bool FlightTaskAuto::_evaluateTriplets()
 		} else {
 			tmp_target(0) = _lock_position_xy(0);
 			tmp_target(1) = _lock_position_xy(1);
-			_lock_position_xy.setAll(NAN);
 		}
 
 	} else {
+		// reset locked position if current lon and lat are valid
+		_lock_position_xy.setAll(NAN);
+
 		// Convert from global to local frame.
 		map_projection_project(&_reference_position,
 				       _sub_triplet_setpoint->get().current.lat, _sub_triplet_setpoint->get().current.lon, &tmp_target(0), &tmp_target(1));